odometry Namespace Reference

Classes
struct	BodyContactPoint
struct	BodyContactState
class	BodyState
struct	Configuration
class	FootContact
class	Gaussian2D
class	Gaussian3D
class	GaussianSamplingPose3D
	helper class that represents a pose (position and orientation) and associated gaussian uncertainty, which can also produce samples More...
class	KinematicModel
class	MotionModel
class	Sampling2D
class	Sampling3D
class	Skid4Odometry
	Class which provides a simple wheel (skid steering) odometry from asguard. More...
class	SkidOdometry
	Class which provides a simple wheel (skid steering) odometry. More...
class	State
struct	TranslationWithYaw
struct	TreeContactPoint

Typedefs
typedef Eigen::Matrix< double, 6, 6 >	Matrix6d
typedef Eigen::Matrix< double, 6, 1 >	Vector6d

Enumerations
enum	wheelIdx { REAR_LEFT = 0, REAR_RIGHT = 1, FRONT_RIGHT = 2, FRONT_LEFT = 3 }

Functions
bool	isLeft (wheelIdx idx)
	convenience method to check if a given wheel index is on the left of the robot More...
bool	isFront (wheelIdx idx)
	convenience method to check if a given wheel index is on the front of the robot More...
wheelIdx	wheelIdxEnum (unsigned long idx)
	get a wheel index from an unsigned long More...
base::Pose2D	projectPoseDelta (const Eigen::Quaterniond &orientation, const base::Pose &pose)

Detailed Description

for std::cout TO-DO REMOVE For std vector For std shared pointer Log message Eigen data type for Matrix, Quaternion, etc... Core methods of Eigen implementation for the algebra and transformation matrices and accessing Matrixblock and corner among others For the Cholesky decomposition

Typedef Documentation

typedef Eigen::Matrix<double,6,6> odometry::Matrix6d

typedef Eigen::Matrix<double,6,1> odometry::Vector6d

Enumeration Type Documentation

enum odometry::wheelIdx

Enumerator
REAR_LEFT
REAR_RIGHT
FRONT_RIGHT
FRONT_LEFT

Function Documentation

bool odometry::isFront

(

wheelIdx

idx

)

convenience method to check if a given wheel index is on the front of the robot

bool odometry::isLeft

(

wheelIdx

idx

)

convenience method to check if a given wheel index is on the left of the robot

base::Pose2D odometry::projectPoseDelta	(	const Eigen::Quaterniond &	orientation,
		const base::Pose &	pose
	)

wheelIdx odometry::wheelIdxEnum

(

unsigned long

idx

)

get a wheel index from an unsigned long

Can be used for enumerating the wheel using an index.

will throw if the index is not valid.